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Oren Salzman

 This site is no longer maintained. 

Please see updated information at orensalzman.com.

 

 

profile


School of Computer Science

Tel Aviv University

Schreiber building, room M18

Tel Aviv 69978

Israel

+972-3-6406114 (voice)

+972-3-6405387 (fax)

orenzalz@post.tau.ac.il

 

 

Research Interests

I am interested in high-quality robot motion planning. 

Specifically, I am trying to incorporate classic, geometric approaches together with sampling-based approaches.

Recent Projects

thumb
Motion Planning for 
Multi-Link Robots 
 
 
RTG_thumbnail
Efficient high-quality 
motion planning by 
fast all-pairs 
r-nearest neighbors
ctc_ctg
Motion Planning
using Lower Bounds 
drrt_thumb
Discrete RRT for 
 Multi-Robot
Motion Planning
thumbnail

Roadmap Sparsification 
by
Edge Contraction
thumbnail
 Motion Planning via
  Manifold Samples 
tether_thumb2
Path Planning
for a Tethered Robot
thumbnail
 
Asymptotically 
near-optimal RRT 






Short CV

 

Professional Activities

Software Projects 

  • CGAL: Computational Geometry Algorithms Library

Courses

 

Publications

Articles in Journals

  1. Kiril Solovey, Oren Salzman, and Dan Halperin. 
    Finding a Needle in an Exponential Haystack: Discrete RRT for Exploration of Implicit Roadmaps in Multi-Robot Motion Planning 
    In International Journal of Robotics Research (IJRR), to appear
    [WWW]
  2. Oren Salzman, Michael Hemmer, and Dan Halperin. 
    On the Power of Manifold Samples in Exploring Configuration Spaces and the Dimensionality of Narrow Passages 
    In IEEE Transactions on Automation Science and Engineering (T-ASE), 12(2):529-538, 2015
    [WWW]
  3. Sparsification of Motion-Planning Roadmaps by Edge Contraction.
    In International Journal of Robotics Research (IJRR), 33(14):1711-1725, 2014.
    [WWW]
  4. Oren Salzman, Michael Hemmer, Barak Raveh, and Dan Halperin.
    Motion Planning via Manifold Samples. Algorithmica, 67(4):547-565, 2013.
    [WWW

Articles in Conferences

  1. Pankaj Agarwal, Kyle Fox, and Oren Salzman
    An Efficient Algorithm for Computing High-Quality Paths amid Polygonal Obstacles, 
    In Proceedings of the ACM-SIAM Symposium on Discrete Algorithms (SODA), to appear, 2016
    [WWW]
  2. Oren Salzman and Dan Halperin
    Asymptotically-Optimal Motion Planning using Lower Bounds on Cost, 
    In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 4167-4172, 2015
    [WWW]
  3. Michal Kleinbort, Oren Salzman and Dan Halperin
    Efficient High-Quality Motion Planning by Fast All-Pairs r-Nearest Neighbors 
    In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2985-2990, 2015
    [WWW]
  4. Oren Salzman and Dan Halperin
    Shortest-Path Planning for a Tethered Robot, The Multi-Query Case with Optimal-Solution Paths, 
    In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 4161-4165, 2015
    [WWW]
  5. Kiril Solovey*, Oren Salzman* and Dan Halperin (*equal contribution)
    Finding a Needle in an Exponential Haystack: Discrete RRT for Exploration of Implicit Roadmaps in Multi-Robot Motion Planning, 
    In Proceedings of the 11th international Workshop on the Algorithmic Foundations of Robotics (WAFR), 591-607, 2014
    [WWW]
  6. Oren Salzman and Dan Halperin 
    Asymptotically near-optimal RRT for fast, high-quality, motion planning.
    In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pages 4680–4685, 2014
    [WWW]
  7. Doron Shaharabani, Oren Salzman, Pankaj K. Agarwal and Dan Halperin. 
    Sparsification of Motion-Planning Roadmaps by Edge Contraction.
    In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pages 4083-4090, 2013
    [WWW]
  8. Oren Salzman, Michael Hemmer, and Dan Halperin. 
    On the Power of Manifold Samples in Exploring Configuration Spaces and the Dimensionality of Narrow Passages 
    In Proceedings of the 10th international Workshop on the Algorithmic Foundations of Robotics (WAFR), pages 313-329, 2012
    [WWW]
  9. Oren Salzman, Michael Hemmer, Barak Raveh, and Dan Halperin. 
    Motion planning via manifold samples

    In Proceedings of the 19th European Symposium on Algorithms, ESA'11, Saarbrücken, Germany, pages 493-505, 2011. Springer. 
    [WWW]

Technical reports

  1. Oren Salzman, Kiril Solovey and Dan Halperin 
    Motion Planning for Multi-Link Robots by Implicit Configuratio-Space Tiling,
    arXiv, 2015 [link

Book Chapters

  1. Dan Halperin, Oren Salzman and Micha Sharir 
    Algorithmic Motion Planning 
    Chapter 51 in Handbook of Discrete and Computational Geometry, 3rd Edition, to appear.

Software:

  1. Michal Kleinbort and Oren Salzman
    Randomly-Shifted Grids - Fast, All-Pairs r-Nearest -Neighbors for Motion Planning Algorithms

    March 2015. [WWW]
  2. Oren Salzman
    LBT-RRT - Contributed Package to the Open Motion Planning Library, release 0.14.0

    OMPL, October 2014. [WWW]
  3. Ron Wein, Eric Berberich, Efi Fogel, Dan Halperin, Michael Hemmer, Oren Salzman, and Baruch Zukerman 
    2D Arrangements, CGAL - Computational Geometry Algorithms Library, release 4.0

    CGAL, May 2012. [WWW]

Thesis

  1. Oren Salzman.
    Motion Planning via Manifold Samples.
    Masters thesis, Tel-Aviv University, Tel-Aviv, Israel October 2011. [pdf]
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